Obstacle avoidance is an integral part of safety control for nonholonomic mobile robots, self-driving cars, unmanned aerial vehicles, and surface vehicles [1]}, [2]}, [3]}, [4]}, [5]}, [6]}. The literature includes various techniques such as potential field [7]}, [8]}, [9]}, [10]}, [11]}, [12]}, collision cone [13]}, [14]}, [15]}, [16]}, [17]}, path planning [18]}, [19]}, [20]}, [21]}, model predictive control [22]}, [23]}, [24]}, [25]}, and sliding-based method [26]}, [27]}. Among early works, one can refer to the papers by Khatib [28]}, Krogh [29]}, Aggarwal, Leitmann, Skowronski [30]}, [31]}, and Borenstein and Koren [32]}. Recent developments include the usage of barrier certificates and control barrier functions to design safety controllers [33]}, [34]}, [35]}, [36]}, [37]}, [38]}.
